Seek scheduling in a split actuator drive

ABSTRACT

Systems and methods for scheduling the execution of disk access commands in a split-actuator hard disk drive are provided. In some embodiments, while a first actuator of the split actuator is in the process of performing a first disk access command (a victim operation), a second disk access command (an aggressor operation) is selected for and executed by a second actuator of the split actuator. The aggressor operation is selected from a queue of disk access commands for the second actuator, and is selected based on being the disk access command in the queue that can be initiated sooner than any other disk access command in the queue without disturbing the victim operation.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. Pat. Application No.16/589,091, filed Sep. 30, 2019, the entire contents of which areincorporated herein by reference.

BACKGROUND

Magnetic hard disk drives (HDDs) have been employed in informationtechnology as a low-cost means for providing random access to largequantities of data. As the need for data storage has expanded, the arealdensity of information stored in HDDs has been continuously increased.In addition to high storage capacity, the ability of an HDD to accessstored data quickly is also important. To meet the ever-increasingrequirements for high access performance and faster throughput, HDDshave been configured with multiple rotary actuators and associatedread/write channels that are designed to operate simultaneously. Thus,each rotary actuator enables the independent positioning of one or moremagnetic heads for reading and writing data, thereby greatly increasingthe throughput of such HDDs.

One drawback to the use of independent rotary actuators is that themechanical interaction between such actuators can affect positioningaccuracy of a magnetic head that is associated with one actuator whenanother actuator is in motion. For example, when one actuator is seekingto a targeted data track, the high accelerations and changes inacceleration of the actuator can generate vibrations which willsignificantly affect the positioning accuracy of another actuator whilethe other actuator is track following. Consequently, there is a need inthe art for reducing the effect of one actuator in a multi-actuatordrive on the positioning accuracy of another actuator in themulti-actuator drive.

SUMMARY

One or more embodiments provide systems and methods for scheduling theexecution of disk access commands in a split-actuator hard disk drive(HDD). In some embodiments, while a first actuator of the split actuatoris in the process of performing a first disk access command (a so-called“victim” operation), a second disk access command (a so-called“aggressor” operation) is selected for and executed by a second actuatorof the split actuator. The aggressor operation is selected from a queueof disk access commands for the second actuator, and is selected basedon being the disk access command in the queue that can be initiatedsooner than any other disk access command in the queue withoutdisturbing the victim operation. In some situations, the aggressoroperation is modified to prevent disturbance of the victim operation,including reducing a rate of change of radial acceleration of the secondactuator during a seek portion of the aggressor operation. Additionally,in some situations, to determine the best aggressor operation to selectfor execution, a time interval sufficient for a revolution of arecording medium to occur is added to the associated time of theaggressor operation when comparing to the associated times of otherpossible aggressor operations.

In some embodiments, a first disk access command for a first actuator ofthe split actuator and a second disk access command for a secondactuator of the split actuator are selected simultaneously. The firstdisk access command is selected from a queue of commands for the firstactuator and the second disk access command is selected from a queue ofcommands for the second actuator, where the selection of the first andsecond disk access commands is based on an approximate matching of avalue for each command of a timing metric associated with execution ofthe commands. The first disk access command and the second disk accesscommand are then executed together, so that the first actuator and thesecond actuator are seeking at substantially the same time. Thus, thehigh accelerations and changes in acceleration that occur during seekingof one actuator do not occur while the other actuator is track followingand is most easily disturbed.

According to an embodiment, a method is provided of selecting andexecuting disk access commands in a disk drive that includes a firstactuator that controls an arm having a first head and a second actuatorthat controls an arm having a second head. According to the embodiment,the method comprises, while the first actuator is in the process ofperforming a first disk access operation, selecting a second disk accessoperation from a queue of operations to be performed by the secondactuator; determining that a disturbance time of the second disk accessoperation coincides with at least a portion of a critical time of thefirst disk access operation; in response to determining that thedisturbance time coincides with at least a portion of the critical time,generating a modified second disk access operation that does not includea disturbance time that coincides with at least a portion of thecritical time of the first disk access operation; selecting as anoperation for execution either the modified second disk access operationor a third disk access operation from the queue of operations to beperformed by the second actuator; and executing the operation forexecution.

A disk drive, according to another embodiment, comprises a firstactuator that controls an arm having a first head and extending over afirst surface of a plurality of disk surfaces; a second actuator thatcontrols an arm having a second head and extending over a second surfaceof a plurality of disk surfaces other than the first surface; and acontroller. The controller is configured to, while the first actuator isin the process of performing a first disk access operation, select asecond disk access operation from a queue of operations to be performedby the second actuator; determine that a disturbance time of the seconddisk access operation coincides with at least a portion of a criticaltime of the first disk access operation; in response to determining thatthe disturbance time coincides with at least a portion of the criticaltime, generate a modified second disk access operation that does notinclude a disturbance time that coincides with at least a portion of thecritical time of the first disk access operation; select as an operationfor execution either the modified second disk access operation or athird disk access operation from the queue of operations to be performedby the second actuator; and execute the operation for execution.

BRIEF DESCRIPTION OF THE DRAWINGS

So that the manner in which the above recited features of embodimentscan be understood in detail, a more particular description ofembodiments, briefly summarized above, may be had by reference to theappended drawings. It is to be noted, however, that the appendeddrawings illustrate only typical embodiments and are therefore not to beconsidered limiting of its scope, for the invention may admit to otherequally effective embodiments.

FIG. 1 is a schematic view of an exemplary hard disk drive, according toan embodiment.

FIG. 2 schematically illustrates a partial side-view of multiple storagedisks and two independent actuator arm assemblies of the hard disk driveof FIG. 1 , according to an embodiment.

FIG. 3 illustrates an operational diagram of the hard disk drive of FIG.1 , with some elements of electronic circuits and a motor-driver chipshown configured according to one embodiment.

FIG. 4 illustrates a voice coil motor (VCM) drive current profile duringan example seek operation.

FIG. 5 schematically illustrates various positions of an aggressor head(not shown) relative to a recording surface during an aggressor seekoperation, according to an embodiment.

FIG. 6 illustrates changes over time of a VCM drive current profileduring an aggressor seek operation and a VCM drive current profileduring a modified aggressor seek operation, according to an embodiment.

FIG. 7 illustrates changes over time of a VCM drive current profileduring an unmodified aggressor seek operation and a VCM drive currentprofile during a modified aggressor seek operation, according to anembodiment.

FIG. 8 illustrates changes over time of a VCM drive current profileduring an unmodified aggressor seek operation and a VCM drive currentprofile during a modified aggressor seek operation, according to anembodiment.

FIG. 9 illustrates changes over time of a VCM drive current profileduring an unmodified aggressor seek operation and a VCM drive currentprofile during a modified aggressor seek operation, according to anembodiment.

FIG. 10 schematically illustrates seek paths relative to a recordingsurface that are followed by an aggressor head during two differentaggressor seek operations, according to an embodiment.

FIG. 11 sets forth a flowchart of method steps for selecting andexecuting disk access operations in a multiple-actuator disk drive,according to an embodiment.

FIG. 12 schematically illustrates a first command queue and a secondcommand queue, according to an embodiment.

FIG. 13 sets forth a flowchart of method steps for selecting andexecuting disk access operations in a multiple-actuator disk drive,according to an embodiment.

FIG. 14 schematically illustrates seek paths relative to a recordingsurface that are followed by a first head and a second head during seekoperations that are selected based on a one or more disk access timingmetrics, according to an embodiment.

FIGS. 15A-15E illustrate a first command queue and a second commandqueue at various points in a command selection process, according to anembodiment.

FIG. 16 sets forth a flowchart of method steps for selecting andexecuting disk access operations in a disk drive that includes a firstactuator having a first head and a second actuator having a second head,according to an embodiment.

FIG. 17 sets forth a flowchart of method steps for selecting andexecuting disk access operations in a disk drive that includes a firstactuator having a first head and a second actuator having a second head,according to an embodiment.

For clarity, identical reference numbers have been used, whereapplicable, to designate identical elements that are common betweenfigures. It is contemplated that features of one embodiment may beincorporated in other embodiments without further recitation.

DETAILED DESCRIPTION System Overview

FIG. 1 is a schematic view of an exemplary hard disk drive (HDD) 100,according to one embodiment. For clarity, HDD 100 is illustrated withouta top cover. HDD 100 is a multiple actuator drive, and includes one ormore storage disks 110, each including one or two recording surfaces onwhich a plurality of concentric data storage tracks are disposed. InFIG. 1 , only the top recording surface 112A of storage disk 110 isvisible. The one or more storage disks 110 are coupled to and rotated bya spindle motor 114 that is mounted on a base plate 116. Two or moreactuator arm assemblies 120A and 120B are also mounted on base plate116, and each of the assemblies includes one or more arm-mounted sliderswith one or more magnetic read/write heads that read data from and writedata to the data storage tracks of an associated recording surface, suchas recording surface 112A.

One or more actuator arms 124A-C are included in actuator arm assembly120A, and one or more actuator arms 124D-F are included in actuator armassembly 120B. Actuator arm assembly 120A and the one or more actuatorarms 124A-C included therein are rotated together about a bearingassembly 126 by a voice coil motor (VCM) 128A independently fromactuator arm assembly 120B. Likewise, actuator arm assembly 120B and theone or more actuator arms 124D-F included therein are rotated togetherabout bearing assembly 126 by a VCM 128B independently from actuator armassembly 120A. Thus, each of VCMs 128A and 128B moves a group of thesliders radially relative to a respective recording surface of a storagedisk 110 included in HDD 100, thereby providing radial positioning of aread/write head over a desired concentric data storage track. Forexample, VCM 128A moves sliders 121A-D relative to respective recordingsurfaces, thereby providing radial positioning of read/write head 127Aover a desired concentric data storage track on recording surface 112A.Spindle motor 114, the read/write heads 127A-D and 127E-H, and VCMs 128Aand 128B are coupled to electronic circuits 130, which are mounted on aprinted circuit board 132.

When data are transferred to or from a particular recording surface ofHDD 100, one of the actuator arm assemblies 120A or 120B moves in an arcbetween the inner diameter (ID) and the outer diameter (OD) of thestorage disk 110. The actuator arm assembly accelerates in one angulardirection when current is passed in one direction through the voice coilof the corresponding VCM and accelerates in an opposite direction whenthe current is reversed, thereby allowing control of the position of theactuator arm assembly and the attached read/write head with respect tothe particular storage disk 110.

In the embodiment illustrated in FIG. 1 , four sliders 121A-121-D, threeactuator arms 124A-124C, and four read/write heads 127A-127D are shownfor actuator arm assembly 120A and four sliders 121E-121H, threeactuator arms 124D-124F, and four read/write heads 127E-127H are shownfor actuator arm assembly 120B. In other embodiments, each of actuatorarm assemblies 120A and 120B can include more or fewer actuator arms,sliders, and read/write heads. Further, in some embodiments, HDD 100 caninclude more than two actuator arm assemblies, each rotated aboutbearing assembly 126 by a respective VCM independently from each other.

FIG. 2 schematically illustrates a partial side-view of multiple storagedisks 110A-110D and two independent actuator arm assemblies 120A and120B of HDD 100, according to an embodiment. The recording surfaces ofmultiple storage disks 110A and 110B are each accessed by one of theread/write heads included in the independent actuator arm assembly 120A(e.g., read/write heads 127A, 127B, 127C, and 127D), and the recordingsurfaces of multiple storage disks 110C and 110D are each accessed bythe read/write heads included in the independent actuator arm assembly120B (e.g., read/write heads 127E, 127F, 127G, and 127H). Thus, in theembodiment illustrated in FIG. 2 , HDD 100 is configured with multiplestorage disks 110A-110D having a total of eight recording surfaces112A-112H and multiple read/write heads 127A-127H, each corresponding toone of these recording surfaces. Specifically, in the embodimentillustrated in FIG. 2 , HDD 100 includes: a storage disk 110A withrecording surfaces 112A and 112B; a storage disk 110B with recordingsurfaces 112C and 112D; a storage disk 110C with recording surfaces 112Eand 112F; and a storage disk 110D with recording surfaces 112G and 112H.Thus, read/write head 127A reads data from and writes data to recordingsurface 112A, read/write head 127B reads data from and writes data tocorresponding recording surface 112B, and so on.

Read/write heads 127A-127H are disposed on sliders 121A-121H,respectively, and sliders 121A-121H are mounted on actuator arms124A-124C as shown. Actuator arms 124A-124C are included in actuator armassembly 120A, and actuator arms 124D-124F are included in actuator armassembly 120B. In an embodiment of the invention, actuator armassemblies 120A and 120B are independently controlled and both rotateabout bearing assembly 126 (which includes a same shaft axis 226). Insome embodiments, actuator arms 120A and 120B rotate about differentbearing assemblies (for example, arranged on opposite sides of thedisks). In some embodiments, HDD 100 could include 4 actuator arms, withtwo sharing one bearing and two sharing another bearing.

In some embodiments, HDD 100 includes one or more microactuators foreach of read/write heads 127A-127H. In the embodiment illustrated inFIG. 2 , HDD 100 includes microactuators 129A-129H (collectivelyreferred to herein as microactuators 129), each of which is associatedwith a respective read/write head 127A-127H, and/or microactuators123A-123H (collectively referred to herein as microactuators 123), eachof which is associated with a respective read/write head 127A-127H. Eachof microactuators 129 and/or 123 compensates for perturbations in theradial position of sliders 121A-121H, so that read/write heads 127A-127Hfollow the proper data track on recording surfaces 112. Thus,microactuators 123 and/or 129 can compensate for vibrations of the disk,inertial events such as impacts to HDD 100, and irregularities inrecording surfaces 112.

In some embodiments, each of sliders 121A-121H is mounted on acorresponding flexure arm via a microactuator 129. For example, amicroactuator 129 can include a microactuator (MA) second stage thatincludes two lead zirconate titanate piezoelectric actuators attached toa baseplate of the corresponding flexure arm. Alternatively, in someembodiments, each of sliders 121A-121H is mounted directly on acorresponding flexure arm. Further, in some embodiments, each ofmicroactuators 123 is disposed near a base of a respective flexure arm,i.e., proximate one of actuator arms 124A-124C. For example,microactuators 123 can each include a pair of piezoelectric strips thatare mounted on the corresponding flexure arm near to where that flexurearm is attached to the corresponding actuator arm 124A-124C. When onesuch piezoelectric strip expands and the other piezoelectric stripcontracts, the flexure arm sways to one side, moving a correspondingslider 121A-121H radially. Because the diameter of the circular arcalong which the slider moves is approximately equal to the length of theflexure arm (which is generally larger than the length of the slider),microactuators 123 can provide significantly greater range of radialmotion of a read/write head 127A-127H than microactuators 129.

Returning to FIG. 1 , electronic circuits 130 include read channels 137Aand 137B, a microprocessor-based controller 133, random-access memory(RAM) 134 (which may be a dynamic RAM and is used as one or more databuffers) and/or a flash memory device 135, and, in some embodiments, aflash manager device 136. In some embodiments, read channels 137A and137B and microprocessor-based controller 133 are included in a singlechip, such as a system-on-chip (SoC) 131. HDD 100 further includes amotor-driver chip 125 that accepts commands from microprocessor-basedcontroller 133 and drives spindle motor 114, and VCMs 128A and 128B. Viaa preamplifier (not shown), read/write channel 137A communicates withread/write heads 127A-D and read/write channel 137B communicates withread/write heads 127E-H. The preamplifier is mounted on a flex-cable,which is mounted on either base plate 116, one of actuator arms 124A-Cor 124D-F, or both. Electronic circuits 130 and motor-driver chip 125are described below in greater detail in conjunction with FIG. 3 .

FIG. 3 illustrates an operational diagram of HDD 100, with some elementsof electronic circuits 130 and motor-driver chip 125 shown configuredaccording to one embodiment. HDD 100 is connected to a host 10, such asa host computer, via a host interface 20, such as a serial advancedtechnology attachment (SATA) bus or a Serial Attached Small ComputerSystem Interface (SAS) bus. As shown, microprocessor-based controller133 includes one or more central processing units (CPU) 301 or otherprocessors, a hard disk controller (HDC) 302, a DRAM 134, and read/writechannels 137A and 137B, while motor-driver chip 125 includes a positioncontrol signal generating circuit 313 (e.g., Driver IC), a spindle motor(SPM) control circuit 314, a first actuator control circuit 315, and asecond actuator control circuit 316. DRAM 134 may be integrated on thesame die as the controller 133, included in a separate die in the samepackage as the controller 133, or included in a separate package mountedon circuit board 130. HDD 100 further includes preamplifiers 320A and320B, which can be each mounted on actuator arm assemblies 120A and 120Bor elsewhere within the head and disk assembly (HDA) of HDD 100.Preamplifier 320A supplies a write signal (e.g., current) to read/writehead 127A-D in response to write data input from read/write channel137A-D, and preamplifier 320B supplies a write signal (e.g., current) toread/write head 127E-H in response to write data input from read/writechannel 137B. In addition, preamplifier 320A amplifies a read signaloutput from to read/write head 127A-D and transmits the amplified readsignal to read/write channel 137A, and preamplifier 320B amplifies aread signal output from to read/write head 127E-H and transmits theamplified read signal to read/write channel 137B.

CPU 301 controls HDD 100, for example according to firmware stored inflash memory device 135 or another nonvolatile memory, such as portionsof recording surfaces 112A-112H. For example, CPU 301 manages variousprocesses performed by HDC 302, read/write channels 137A and 137B,read/write heads 127A-127H, recording surfaces 112A-112H, and/ormotor-driver chip 125. Such processes include a command schedulingprocess (described in greater detail below) for disk access commandsreceived from host 10, a writing process for writing data onto recordingsurfaces 112A-112H, and a reading process for reading data fromrecording surfaces 112A-112H. In some embodiments, the commandscheduling process is implemented via a command scheduling algorithm 303that can reside in whole or in part in RAM 134 and/or in firmware or anapplication-specific integrated circuit 301A included in CPU 301. Afirst command queue 334A and a second command queue 334B may also residein RAM 134. First command queue 334A includes disk access commands to beexecuted by VCM 128A, first actuator control circuit 315, R/W channel137A, and preamplifier 320A. Second command queue 334B includes diskaccess commands to be executed by VCM 128B, second actuator controlcircuit 316, R/W channel 137B, and preamplifier 320B.

In the embodiment illustrated in FIG. 3 , microprocessor-basedcontroller 133 includes a single CPU 301 incorporated into a single SoC131. In alternative embodiments, microprocessor-based controller 133includes more than one CPU. In such embodiments, HDD 100 can include twoCPUs; one devoted to servo/spindle control and the other devoted to acombination of host-based and disk-control activities. Alternatively, insuch embodiments, HDD 100 includes a separate SoC for each actuator,where each SoC has two such CPUs. Further, in some embodiments, HDD 100includes multiple motor driver chips. For instance, in one suchembodiment, a first motor driver chip is dedicated for controlling thespindle motor and a first actuator while a second motor driver chip isdedicated for controlling a second actuator.

Read/write channels 137A and 137B are signal processing circuits thatencode write data input from HDC 302 and output the encoded write datato respective preamplifiers 320A and 320B. Read/write channels 137A and137B also decode read signals transmitted from respective preamplifiers320A and 320B into read data that are outputted to HDC 302. In someembodiments, read/write channels 137A and 137B each include a singleread channel and a single write channel, whereas in other embodiments,read/write channels 137A and 137B each include multiple write channelsand/or multiple read channels for read/write heads 127A-127H. HDC 302controls access to DRAM 134 by CPU 301, read/write channels 137A and137B, and host 10, and receives/transmits data from/to host 10 viainterface 20. In some embodiments, the components ofmicroprocessor-based controller 133 (e.g., CPU 301, HDC 302, DRAM 134,and read/write channels 137A, 137B) are implemented as a one-chipintegrated circuit (i.e., as an SoC). Alternatively, one or more of CPU301, HDC 302, DRAM 134, and read/write channels 137A and 137B can eachbe implemented as a separate chip.

Motor-driver chip 125 drives the spindle motor 114, a first actuator(that includes VCM 128A, actuator arms124A-124C, and bearing assembly126A), and a second actuator (that includes VCM 128B, actuator arms124D-124F, and bearing assembly 126B). Specifically, SPM control circuit314 generates a drive signal 341 (a drive voltage or a drive current) inresponse to a control signal 351 received from the CPU 301 and feedbackfrom the spindle motor 114, and supplies drive signal 341 to spindlemotor 114. In this way, spindle motor 114 rotates storage disks110A-110D. In addition, first actuator control circuit 315 generates adrive signal 342 (drive voltage or drive current) in accordance with areceived position control signal 352, and supplies drive signal 342 tothe first actuator (VCM 128A). In this way, the first actuator positionsread/write heads 127A-127D radially relative to a corresponding one ofrecording surfaces 112A-112D. Further, second actuator control circuit316 generates a drive signal 343 in accordance with a received positioncontrol signal 353, and supplies the position control signal 343 to thesecond actuator (VCM 128B). In this way, the second actuator positionsread/write heads 127E-127H radially with respect to a corresponding oneof recording surface 112E-127H. Position control signal generatingcircuit 313 generates position control signals 352 and 353 in responseto control signals 361 and 362 (which are control values for VCMs 128Aand 128B) from CPU 301, respectively. Control signals 361 enableexecution of disk access commands received from host 10 that are to beexecuted by a first servo system of HDD 100 and control signals 362enable execution of disk access commands received from host 10 that areto be executed by a second servo system of HDD 100. CPU 301 generatesposition control signals 363 and 364, which are control values formicroactuators 128 and/or microactuators 129, and transmits positioncontrol signals 363 and 364 to preamplifiers 320A and 320B.

The embodiment illustrated in FIG. 3 shows first servo controller 315and second servo controller 316 implemented as parts of motor-driverchip 125. In other embodiments, first servo controller 315 and secondservo controller 316 are implemented in whole or in part in firmwarerunning on CPU 301. In embodiments in which microprocessor-basedcontroller 133 includes multiple CPUs, such firmware can run on one ormore of the multiple CPUs.

In an embodiment, the first servo system of HDD 100 (e.g., CPU 301,read/write channel 137A, preamplifier 320A, first actuator controlcircuit 315, and voice-coil motor 128A) performs positioning of aread/write head included in actuator arm assembly 120A (e.g., read/writehead 127A) over a corresponding recording surface (e.g., recordingsurface 112A), during which CPU 301 determines an appropriate current todrive through the voice coil of VCM 128A. Typically, the appropriatecurrent is determined based in part on a position feedback signal of theread/write head, i.e., a position error signal (PES) and on a targetcurrent profile. Similarly, the second servo system of HDD 100 (e.g.,CPU 301, read/write channel 137B, preamplifier 320B, second actuatorcontrol circuit 316, and voice-coil motor 128B) performs positioning ofa read/write head included in actuator arm assembly 120B (e.g.,read/write head 127E) over a corresponding recording surface (e.g.,recording surface 112E), during which CPU 301 determines an appropriatecurrent to drive through the voice coil of VCM 128B. Although a singleCPU 301 is shown here, it is possible that multiple CPUs might be used(for example, one or more CPUs for each actuator).

Seek Scheduling Based on Aggressor Operation Disturbance Times

As noted previously, when one actuator of a multiple-actuator HDD isseeking to a targeted data storage track, cross-actuator coupling cangenerate vibrations which will significantly affect the positioningaccuracy of the other actuator. In particular, the high accelerationsand changes in acceleration of the seeking actuator are likely to affectthe positioning accuracy of the other actuator when the other actuatoris attempting to closely follow a specific data track, for exampleduring a read or write operation. The accelerations of an actuatorduring an exemplary seek operation are described below in conjunctionwith FIG. 4 .

FIG. 4 illustrates a VCM drive current profile 400 during an exampleseek operation. VCM drive current profile 400 indicates changes overtime of current applied to a VCM, such as VCM 128A or VCM 128B of FIG. 1. Typically, the seek operation is executed as part of a read or writeoperation, which can be completed once a read/write head is preciselypositioned over a targeted data storage track. During the seekoperation, an actuator of HDD 100 (e.g., VCM 128A or 128B) radiallyrepositions a read/write head from a current radial location over arecording surface to a target radial location over the recordingsurface, e.g. a targeted data storage track. The value of VCM currentprofile 400 at any time during the seek operation is roughlyproportional to the radial acceleration of the actuator performing theseek at that time. Thus, during the course of the seek operation, thevalue of VCM drive current profile 400 increases, decreases, or remainsconstant, depending on what radial acceleration is being employed forseeking the read/write head to a target radial location.

The seek operation includes some or all of the following segments: anacceleration increase segment 401, a constant acceleration segment 402,an acceleration decrease segment 403, a coasting segment 404, adeceleration increase segment 405, a constant deceleration segment 406,a deceleration decrease segment 407, and a track following segment 408.As shown, VCM drive current profile 400 increases with time (between atime T0 and T1) at a rate that includes a maximum slope 411 during theinitial acceleration increase segment 401, decreases with time (betweena time T2 and T3) at a rate that includes a maximum slope 413 during theacceleration decrease segment 403, decreases with time (between a timeT4 and T5) at a rate that includes a maximum slope 415 during thedeceleration increase segment 405, and increases with time (between atime T6 and T7) at a rate that includes a maximum slope 417 during thedeceleration decrease segment 407. During coasting segment 404, wherelittle or no drive current is applied to the actuator, the radialvelocity of the actuator remains substantially constant. Similarly, intrack following segment 408, in which the actuator positions a head overa target track, only small drive current is applied to the actuator. Inthe embodiment illustrated in FIG. 4 , certain segments (e.g., constantacceleration segment 402 and constant deceleration segment 406) areshown having substantially constant acceleration or deceleration overthe entire interval. In some embodiments, the VCM current can changeslightly during a particular segment (for example, due to limits of backelectromotive force), while the current is substantially the same, orchanging very slowly.

It is noted that a particular seek operation may not include all of theabove-described segments. For example, in some instances, a seekoperation can be of insufficient length to include coasting segment 404,constant acceleration segment 402, and/or constant deceleration segment406.

Certain segments of the seek operation are likely to result in asignificant mechanical disturbance of another actuator that isperforming an operation in which precise positioning of a read/writehead is necessary. Such segments are referred to herein as a disturbancetime, and include segments of the seek operation in which a rate ofchange of acceleration, also referred to as “jerk,” exceeds a thresholdvalue. In FIG. 4 , such a threshold value can be represented by amaximum absolute value of the slope of VCM drive current profile 400.Thus, when the absolute value of maximum slope 411 exceeds apredetermined threshold slope value, acceleration increase segment 401can be considered a disturbance time of the seek operation. Similarly,when the absolute value of maximum slope 413 exceeds the predeterminedthreshold slope value, acceleration decrease segment 403 can beconsidered a disturbance time of the seek operation; when the absolutevalue of maximum slope 415 exceeds the predetermined threshold slopevalue, deceleration increase segment 405 can be considered a disturbancetime of the seek operation; and when the absolute value of maximum slope417 exceeds the predetermined threshold slope value, decelerationdecrease segment 407 can be considered a disturbance time of the seekoperation.

Additionally, in some embodiments, segments of a seek operation thatinclude absolute values of acceleration or deceleration that exceed athreshold may also result in sufficient cross-actuator coupling todisturb another actuator in a critical time of an operation. In suchembodiments, when the absolute value of VCM drive current profile 400exceeds a predetermined threshold value, constant acceleration segment402 and/or constant deceleration segment 406 can also be considereddisturbance times for the seek operation.

Additionally, in some embodiments, a disturbance time for a seekoperation can extend beyond a time of high slew-rate of the seekoperation. Specifically, in some instances, transient vibrations causedby one segment of the seek operation of the actuator can affect theother actuator for a certain time interval after that segment. Forexample, in some embodiments, transient vibrations from the seekoperation can extend into an initial portion of track following segment408. Therefore, in such embodiments, a portion of track followingsegment 408 can also be considered a disturbance time of a seekoperation. In another example, in such embodiments, transient vibrationsfrom acceleration increase segment 401 can extend into constantacceleration segment 402, hence all or a portion of the latter segmentcan also be considered a disturbance time. Similarly, in suchembodiments, transient vibrations from acceleration decrease segment 403can extend into coasting segment 404, hence some or all of the lattersegment can also be considered a disturbance time. Thus, a disturbancetime may not only occur during a segment of the seek operation in whicha high VCM slew-rate occurs (e.g., acceleration increase segment 401 ordeceleration increase segment 405).

FIG. 5 schematically illustrates various positions of an aggressor head(not shown) relative to a recording surface 512 during an aggressor seekoperation, according to an embodiment. The aggressor head is aread/write head of HDD 100 that is positioned by an aggressor actuator(not shown) of HDD 100. For example, the aggressor head can be one ofread/write heads 127A-127H in FIG. 2 . The aggressor actuator is anactuator of HDD 100 (e.g., actuator arm assembly 120A and VCM 128A oractuator arm assembly 120B and VCM 128B) that is coupled to theaggressor head, and recording surface 512 is a recording surface of HDD100 that corresponds to the aggressor head. For example, in an instancein which the aggressor head is read/write head 127A, the aggressoractuator is VCM 128A of FIG. 1 and recording surface 512 is recordingsurface 112A of FIG. 1 . The victim head is a read/write head of HDD 100that is positioned by a victim actuator of HDD 100. For example, whenthe aggressor head is one of read/write heads 127A-127D in FIG. 2 , thevictim head is one of read/write heads 127E-127H in FIG. 2 and thevictim actuator is actuator arm assembly 120B and VCM 128B.

In the aggressor seek operation, the aggressor actuator beginsperforming the aggressor seek operation while a victim actuator is inthe process of performing a victim disk access operation with the victimhead (not shown). The victim actuator is considered in the process ofperforming a particular victim disk access operation when the victimactuator is performing a seek operation of the particular victim diskaccess operation or positioning a head over a target track of theparticular victim disk access operation (i.e., track following). Morebroadly, the victim actuator may be considered in the process ofperforming a particular victim disk access operation whenmicroprocessor-based controller 133 has designated the particular victimdisk access operation to be the next disk access operation to beperformed by the actuator.

Although the victim head does not interact directly with recordingsurface 512 of FIG. 5 , for reference, various positions of the victimhead are shown in FIG. 5 relative to recording surface 512 thatcorrespond in time to various positions of the aggressor head relativeto recording surface 512. In addition, in embodiments in which theaggressor actuator and the victim actuator rotate about a common point(such as shaft axis 226 in FIG. 2 ), the possible radial locations ofthe aggressor head and the victim head at a specific point in time canbe indicated by a curve extending from an inner diameter (ID) 501 to anouter diameter (OD) 502 of recording surface 512. Thus, at time T0, thepossible radial locations of the aggressor head and the victim head aredelineated by a single radial curve, at time T1 by another radial curve,at time T2 by yet another radial curve, and so on.

In the embodiment illustrated in FIG. 5 , in the aggressor seekoperation, the aggressor actuator positions the aggressor head from anorigin track 503 to a target track 504, for example for the execution ofa read operation from or a write operation to sectors 551 of targettrack 504. Thus, the aggressor actuator moves the aggressor head via aseek path 505 that follows positions 521-528. As shown, seek path 505includes acceleration increase segment 401, constant accelerationsegment 402, acceleration decrease segment 403, coasting segment 404,deceleration increase segment 405, constant deceleration segment 406,deceleration decrease segment 407, and track following segment 408,which are delineated as shown by times T0-T8. By contrast, the victimhead, which is already in the process of completing the victim diskaccess operation, has already been positioned on a target track 506 forexecution of the victim disk access operation. For example, the victimdisk access operation can include reading data from or writing data toone of sectors 552, 553, or 554. Thus, at times T0 to T8, the victimhead is disposed over target track 506 at positions 530-538,respectively. It is noted that target track 506 and sectors 552-554 aredisposed on a different recording surface than recording surface 512,but are depicted in FIG. 5 in corresponding locations on recordingsurface 512 for reference with respect to origin track 503, target track504, sectors 551, and positions 521-528.

As illustrated in FIG. 5 , in some instances a disturbance time of theaggressor seek operation coincides with at least a portion of a criticaltime of the victim disk access operation. For example, when one or moreof acceleration increase segment 401, acceleration decrease segment 403,deceleration increase segment 405, and/or deceleration decrease segment407 overlaps at least a portion of the time interval during which thevictim head is track following to perform read or write operations forthe victim disk access operation, the position of the victim head can bedisturbed significantly. Thus, when the victim head is performing a reador write operation on sectors 552 of target track 506, the increasedvibrations associated with acceleration decrease segment 403 canadversely affect the execution of the victim disk access operation. Bycontrast, when the victim head is performing a read write operation onlyon sectors 554 of target track 506, none of the possible disturbancetimes of the aggressor seek operation coincide with any of the criticaltime of the victim disk access operation, because the victim head ispositioned over sectors 554 during constant deceleration segment 406 ofthe aggressor seek operation. Similarly, when the victim head isperforming a read or write operation on sectors 553 of target track 506,none of the possible disturbance times of the aggressor seek operationcoincide with any of the critical time of the victim disk accessoperation, since the victim head is positioned over sectors 553 duringcoasting segment 404 of the aggressor seek operation. According tovarious embodiments, an aggressor disk access command is selected forthe aggressor actuator and modified so that no disturbance time of theaggressor disk access command coincides with a critical time of thevictim disk access operation. One embodiment of modifying an aggressordisk access command is described below in conjunction with FIG. 6 .

FIG. 6 illustrates changes over time of a VCM drive current 600 profile(dashed line) during an aggressor seek operation and a VCM drive current650 profile (solid line) during a modified aggressor seek operation,according to an embodiment. Also shown in FIG. 6 is a critical time 610(cross-hatched), during which disturbances to a victim disk accessoperation are more likely to adversely affect the victim disk accessoperation. For example, critical time 610 can correspond to a timeinterval during which the victim head is positioned over target sectorsof a target track and is executing a read or write operation.

In the modified the aggressor seek operation, one or more segments ofthe aggressor seek operation are modified so that no disturbance time ofthe aggressor disk access command coincides with critical time 610. Asshown in FIG. 6 , the unmodified aggressor seek operation includes adeceleration increase segment 605 that coincides with critical time 610.In deceleration increase segment 605, VCM drive current profile 600 hasa maximum slope 615 that has an absolute value that exceeds a thresholdslope value 601. Because threshold slope value 601 indicates a minimumvalue of actuator jerk at which the victim disk access operation istypically disturbed, deceleration increase segment 605 can be considereda disturbance time of the unmodified aggressor seek operation. Bycontrast, the modified aggressor seek operation includes a decelerationincrease segment 655 that does not coincide with critical time 610.Instead, a coasting segment 654 of the modified aggressor seek operationcoincides with critical time 610, and, as a result, no disturbance timeof the modified aggressor seek operation coincides with critical time610. In the embodiment illustrated in FIG. 6 , an acceleration increasesegment 651 included in VCM drive current 650 profile has a maximumslope 651A that has an absolute value that is equal to or less thanthreshold slope value 601. Due to the extended duration in time ofacceleration increase segment 651 compared to an unmodified accelerationincrease segment, deceleration increase segment 655 is delayed in timecompared to deceleration increase segment 605 and, as a result,deceleration increase segment 655 does not coincide with critical time610.

In addition, a time at which a track following segment 658 of themodified aggressor seek operation can begin is delayed from time T7 totime T8. That is, until time T8, the aggressor head performing the diskaccess operation is not positioned over a target track (e.g., targettrack 504 in FIG. 5 ) and the target sectors of the disk accessoperation.

Alternatively or additionally, in some embodiments a constantacceleration segment of an aggressor seek operation can be modified todelay the execution of a segment of the aggressor seek operation that isa disturbance time. As a result, during execution of a disk accessoperation that includes the modified aggressor seek operation,disturbance times of the modified aggressor seek operation do notcorrespond to a critical time of the victim disk access operation. Onesuch embodiment is illustrated in FIG. 7 .

FIG. 7 illustrates changes over time of VCM drive current 600 profile(dashed line) during an unmodified aggressor seek operation and a VCMdrive current 750 profile (solid line) during a modified aggressor seekoperation, according to an embodiment. Also shown in FIG. 7 is criticaltime 610, (cross-hatched) during which disturbances to a victim diskaccess operation are more likely to adversely affect the victim diskaccess operation. The unmodified aggressor seek operation includesdeceleration increase segment 605 that coincides with critical time 610and has maximum slope 615 with an absolute value that exceeds thresholdslope value 601. Therefore, deceleration increase segment 605 can beconsidered a disturbance time of the unmodified aggressor seekoperation. By contrast, the modified aggressor seek operation includes adeceleration increase segment 755 that does not coincide with criticaltime 610. Instead, a coasting segment 754 of the modified aggressor seekoperation coincides with critical time 610, and, as a result, nodisturbance time of the modified aggressor seek operation coincides withcritical time 610.

In the modified the aggressor seek operation associated with VCM drivecurrent profile 750, a constant acceleration segment 752 is modifiedrelative to constant acceleration segment 602 of the unmodifiedaggressor seek operation. For example, in the embodiment illustrated inFIG. 7 , constant acceleration segment 752 has a reduced maximumacceleration value 752A that is less than a maximum acceleration value702A of constant acceleration segment 602 of the unmodified aggressorseek operation.

In the embodiment illustrated in FIG. 7 , deceleration increase segment755 of the modified aggressor seek operation occurs later thandeceleration increase segment 605 of the unmodified aggressor seekoperation, due to the reduced maximum acceleration value 752A ofconstant acceleration segment 752. In addition, a time at which a trackfollowing segment 708 of the modified aggressor seek operation can beginis delayed from time T7 to time T8. That is, until time T8, theaggressor head performing the disk access operation is not positionedover the target track of the aggressor seek operation and therefore isunable to execute a disk access operation associated with the unmodifiedaggressor seek operation.

Alternatively or additionally, in some embodiments a modified aggressorseek operation is generated in which a rate of change of acceleration(i.e., current) is modified for one or more segments of the aggressorseek operation, so that the one or more segments are not disturbancetimes of the modified aggressor seek operation. Thus, even though theone or more segments of the modified aggressor seek operation coincidewith a critical time of a victim disk access operation, the victim diskaccess operation is not adversely affected by execution of the modifiedaggressor seek operation. One such embodiment is illustrated in FIG. 8 .

FIG. 8 illustrates changes over time of VCM drive current 600 profile(dashed line) during an unmodified aggressor seek operation and a VCMdrive current 850 profile (solid line) during a modified aggressor seekoperation, according to an embodiment. Also shown in FIG. 8 is criticaltime 610, (cross-hatched) during which disturbances to a victim diskaccess operation are more likely to adversely affect the victim diskaccess operation, and deceleration increase segment 605. Decelerationincrease segment 605 coincides with critical time 610 and can beconsidered a disturbance time of the unmodified aggressor seekoperation, since during deceleration increase segment 605 VCM drivecurrent 600 has a maximum slope 615 that has an absolute value thatexceeds a threshold slope value 601. By contrast, the modified aggressorseek operation includes an acceleration decrease segment 853 thatcoincides with critical time 610, but cannot be considered a disturbancetime of the unmodified aggressor seek operation. Specifically, inacceleration decrease segment 853, VCM drive current 850 has a maximumslope 853A that has an absolute value that is equal to or less thanthreshold slope value 601. As a result, no disturbance time of themodified aggressor seek operation coincides with critical time 610.

In the embodiment illustrated in FIG. 8 , due to the reduced maximumslope 855A of VCM drive current 850 in acceleration decrease segment855, a time at which a track following segment 808 of the modifiedaggressor seek operation can begin is delayed from time T7 to time T8.That is, until time T8, the aggressor head performing the disk accessoperation is not positioned over a target track and therefore is unableto execute a disk access operation associated with the unmodifiedaggressor seek operation.

Alternatively or additionally, in some embodiments a modified aggressorseek operation is generated in which a drive current (i.e.,acceleration) is modified in multiple segments of the aggressor seekoperation, so that none of the segments of the modified aggressor seekoperation can be considered disturbance times. Thus, even though one ormore segments of the modified aggressor seek operation coincide with acritical time of a victim disk access operation, the victim disk accessoperation is not adversely affected by execution of the modifiedaggressor seek operation. One such embodiment is illustrated in FIG. 9 .

FIG. 9 illustrates changes over time of a VCM drive current profile 900(dashed line) during an unmodified aggressor seek operation and a VCMdrive current 950 profile (solid line) during a modified aggressor seekoperation, according to an embodiment. Also shown in FIG. 9 is criticaltime 610, (cross-hatched) during which disturbances to a victim diskaccess operation are more likely to adversely affect the victim diskaccess operation. In the embodiment illustrated in FIG. 9 , VCM drivecurrent profile 900 includes an acceleration increase segment 901, anacceleration decrease segment 903, a deceleration increase segment 905,a deceleration decrease segment 907, and a track following segment 908.Due to a maximum acceleration value 911, a maximum deceleration value912, and/or slopes 913 of VCM drive current profile 900, some or allsegments of VCM drive current profile 900 can potentially be considereddisturbance times.

In some embodiments, VCM drive current profile 900 is employed in diskaccess operations in which relatively short seeks are performed. Forexample, in some embodiments, VCM drive current profile 900 is employedwhen a servo system of HDD 100 is performing a position mode seek ratherthan a velocity mode seek. Typically, in such embodiments, the seek isover a relatively short radial distance (e.g., on the order of about 15%of the stroke of the actuator or less), and VCM drive current profile900 does not include a constant acceleration segment, a coastingsegment, or a constant deceleration segment.

According to some embodiments, some or all segments of VCM drive currentprofile 950 are modified relative to VCM drive current profile 900 andemployed in a modified aggressor seek operation. Specifically, as shownin FIG. 9 , a maximum acceleration value 951 of VCM drive currentprofile 950 has a reduced value relative to maximum acceleration value911, a maximum deceleration value 952 of VCM drive current profile 950has a reduced value relative to maximum deceleration value 912, and/orslopes 953 of VCM drive current profile 950 have reduced values relativeto slopes 913 of VCM drive current profile 900. As a result, none of thesegments of the modified aggressor seek operation can be considereddisturbance times.

In the embodiment illustrated in FIG. 9 , due to the reduced valuesassociated with maximum acceleration value 951, maximum decelerationvalue 952, and/or slopes 953, a time at which a track following segment958 of the modified aggressor seek operation can begin is delayed fromtime T7 to time T8. That is, until time T8, the aggressor headperforming the disk access operation is not positioned over a targettrack and therefore is unable to execute a disk access operationassociated with the unmodified aggressor seek operation.

In some instances, a multi-actuator HDD receives and processes a streamof random read commands, i.e., read commands that are located atsubstantially random locations on the recording surfaces of the HDD. Insuch instances, the command queue for each actuator of the HDD includesa plurality of read commands that each typically reference a smallnumber of sectors. Consequently, the critical time for each such commandcan be assumed to have a duration of no more than the time required fora read head to pass over a small portion of a particular data track,e.g., on the order of a few percent of the sectors of the data track.For instance, a small-block read command that is a single 4 KB sector insize generally corresponds to less than 1% of a track. Thus, in certainembodiments, a modified aggressor seek operation is generated in which arate of change of acceleration and/or a maximum acceleration is modifiedfor one or more segments of the aggressor seek operation. As a result, aportion of the modified aggressor seek operation that corresponds to atime required for the victim head to pass over a predetermined portion(for example 10%) of the target data track of the victim disk accessoperation is modified to not be considered a disturbance time.

For example, in one such embodiment, a modified aggressor seek operationis generated by modifying an acceleration increase segment (similar toacceleration increase segment 401 in FIG. 4 ), a constant accelerationsegment (similar to constant acceleration segment 402 in FIG. 4 ), andan acceleration decrease segment (similar to an acceleration decreasesegment 403 in FIG. 4 ) of an aggressor seek operation to take placeover a time period that corresponds to the victim head passing over apredetermined portion (for example 10%) of the target data track of thevictim disk access operation. In the embodiment, a rate of change ofacceleration is decreased in the acceleration increase segment and theacceleration decrease segment, and a maximum acceleration is decreasedin the constant acceleration segment. In some embodiments, thepredetermined portion of the target track of the victim disk accessoperation can be as small as 1% of the target track. Alternatively, thepredetermined portion of the target track can be as large as about 5-10%of the target track, to provide additional time for transient vibrationsto die out that can affect the victim head.

As described above, in some situations a modified aggressor seekoperation cannot be employed to execute a disk access operation due to adelay of the time at which a track following segment can begin (e.g.,track following segment 658 in FIG. 6 , track following segment 708 inFIG. 7 , track following segment 808 in FIG. 8 , or track followingsegment 958 in FIG. 9 ). In such situations, the aggressor headperforming the disk access operation is not positioned over a targettrack in time to enable the disk access operation to be performed, i.e.,before the target sectors of the disk access operation have alreadyrotated past the aggressor head. According to some embodiments, amodified aggressor seek operation can still be employed to execute adisk access operation, but execution of the disk access operation isdelayed by a complete revolution of the disk rather than by the delaycaused by slowing maximum acceleration values and/or accelerationslopes. During the disk access execution delay, the recording surface onwhich the disk access operation is to be performed rotates for anadditional complete revolution, until the target sectors of the diskaccess operation reach the aggressor head and the disk access operationcan be performed. One such embodiment is illustrated in FIG. 10 .

FIG. 10 schematically illustrates seek paths relative to a recordingsurface 1012 that are followed by an aggressor head 1020 during twodifferent aggressor seek operations, according to an embodiment.Recording surface 1012 of storage disk 1010 has a plurality ofconcentric data storage tracks formed thereon between an ID 1001 and anOD 1002 of storage disk 1010, including an origin track 1003 and atarget track 1004. In a disk access operation, aggressor head 1020 ismoved from origin track 1003 to target track 1004 via an aggressor seekoperation, then reads data from or writes data to a target sector 1007on target track 1004. Thus, before executing an aggressor seekoperation, head 1020 is disposed over origin track 1003, and afterexecuting the aggressor seek operation head 1020 is disposed over targettrack 1004.

In a conventional aggressor seek operation, aggressor head 1020 is movedradially as quickly as practicable from origin track 1003 to targettrack 1004, for example along a conventional seek path 1021. As shown,by following conventional seek path 1021, aggressor head 1020 reachestarget track 1004 before target sector 1007 is circumferentiallyco-located with aggressor head 1020. Therefore, the disk accessoperation can be performed with aggressor head 1020. By contrast, in amodified aggressor seek operation, aggressor head 1020 is moved radiallyover a longer time interval along a modified seek path 1022. Asdescribed above, the modified aggressor seek operation prevents adisturbance time of the seek operation from coinciding with a criticaltime of a victim disk access operation (not shown). However, byfollowing modified seek path 1022, aggressor head 1020 is not positionedon target track 1004 before target sector 1007 is circumferentiallyco-located with aggressor head 1020. As a result, the disk accessoperation cannot be performed with aggressor head 1020 until storagedisk 1010 has completed an additional rotation. Thus, when the modifiedaggressor seek operation is employed to access target sector 1007, adisk access execution delay occurs having a duration of one rotation ofstorage disk 1010. In such instances, during the disk access executiondelay, aggressor head 1020 continues to track follow target track 1004until target sector 1007 is again circumferentially co-located withaggressor head 1020. Thus, when the delay of the additional rotationtakes place, the disk access time of the modified aggressor seekoperation equals the disk access time of the original unmodifiedaggressor seek operation plus the additional revolution time delay.

In embodiments in which a disk access operation is modified with aone-revolution execution delay, such as that shown in FIG. 10 , the timedelay associated with completing the modified disk access operation issignificant. In such embodiments, a different seek operation that is ina command queue for the aggressor actuator can, in many instances, beimplemented more quickly than the disk access command modified with theone-revolution execution delay. As a result, in such instances, thedifferent seek operation is selected to be the next aggressor operation,rather than the modified seek operation.

FIG. 11 sets forth a flowchart of method steps for selecting andexecuting disk access operations in a multiple-actuator disk drive,according to an embodiment. More specifically, the method steps are forselecting and executing disk access operations for a first actuator inthe multiple-actuator disk drive while a second actuator in the drive isin the process of performing a victim disk access operation. Althoughthe method steps are described in conjunction with HDD 100 of FIGS. 1 -10 , persons skilled in the art will understand that the method stepsmay be performed with other types of systems. The control algorithms forthe method steps reside in CPU 301 as command scheduling algorithm 303.Command scheduling algorithm 303 can be implemented in whole or in partas software- or firmware-implemented logic, and/or ashardware-implemented logic circuits.

Prior to the method steps, microprocessor-based controller 133 receivesone or more disk access commands from host 10, such as read and writecommands. Disk access commands to be executed by a first actuator (e.g.,VCM 127A) are stored in first command queue 334A and disk accesscommands to be executed by a second actuator (e.g., VCM 128A) are storedin second command queue 334B. In addition, to facilitate fasterexecution of the disk access commands stored in first command queue 334Aand second command queue 334B, microprocessor-based controller 133determines a value for a disk access timing metric for each entry infirst command queue 334A and second command queue 334B, as illustratedin FIG. 12 .

FIG. 12 schematically illustrates first command queue 334A and secondcommand queue 334B, according to an embodiment. As shown, first commandqueue 334A includes a plurality of disk access commands 1211-1214(referred to collectively herein as disk access commands 1210) forexecution by a first actuator of HDD 100 and a corresponding value for adisk access timing metric 1230. Similarly, second command queue 334Bincludes a plurality of disk access commands 1221-1224 (referred tocollectively herein as disk access commands 1220) for execution by asecond actuator of HDD 100 and a corresponding value for disk accesstiming metric 1230. In some embodiments, disk access commands 1210 and1220 are exclusively read commands and, as such, typically have a higherpriority to be completed than write commands. Alternatively, in someembodiments, disk access commands 1210 and/or 1220 can be exclusivelywrite commands or can include a combination of read commands and writecommands.

Disk access timing metric 1230 can be any metric for quantifying anexecution time of at least a portion of an associated one of disk accesscommands 1210 or 1220. For example, in some embodiments, disk accesstiming metric 1230 for a particular disk access command can be based onan estimated seek time or an estimated time to begin disk access. Insuch embodiments, the estimated seek time can be an estimated durationof the time interval required for the actuator that executes theparticular disk access command to move the appropriate head from acurrent track to a target track of the particular disk access command.In such embodiments, the required time interval can be based on one ormore of multiple factors, including a seek distance (i.e., a radialdistance, in tracks, between the current track to the target track) andwhether a head switch is required for the actuator executing theparticular disk access command.

In some embodiments, the estimated time to begin disk access for anactuator is based on one or more of an estimated circumferentialposition of a head of the actuator upon completion of a current diskaccess operation, an estimated circumferential position of the initialtarget sector of the disk access command, the estimated seek time, and apre-access time interval for the disk access operation. The pre-accesstime interval includes a time interval that begins when the head ismoved to the target track of the disk access command and ends when thehead is positioned over the initial target sector of the disk accesscommand and can begin execution of a disk access operation. Thus, inembodiments in which disk access timing metric 1230 is based on the seekdistance and the pre-access time interval, the disk access timing metric1230 for a particular disk access command is an estimate of when theappropriate head can begin actually accessing the disk as part ofexecuting the disk access command.

Returning to FIG. 11 , a method 1100 begins at step 1101, whenmicroprocessor-based controller 133 selects a disk access command from acommand queue for a first actuator of HDD 100, e.g., command queue 334A.Generally, in step 1101, a second actuator of HDD 100 (i.e., the victimactuator) is already in the process of performing a disk access command(i.e., the victim operation) from the other command queue, e.g., commandqueue 334B. Thus, the first actuator of HDD 100 is the aggressoractuator and the disk access command selected in step 1101 is acandidate aggressor operation.

Microprocessor-based controller 133 selects, as a candidate aggressoroperation, the disk access command from disk access commands 1210 incommand queue 334A, where the selection is based on the values of diskaccess timing metric 1230 in command queue 334A. Specifically,microprocessor-based controller 133 selects the disk access commandhaving the smallest value for disk access timing metric 1230, which isthe disk access command in command queue 334A that can begin to beexecuted the most quickly. Thus, in the embodiment illustrated in FIG.12 , microprocessor-based controller 133 selects disk access command1212.

In step 1102, microprocessor-based controller 133 determines disturbancetimes for the candidate aggressor operation (selected in step 1101). Insome embodiments, the disturbance times are determined based on a timeat which the aggressor head has completed a current disk accessoperation and can begin seeking as part of the execution of thecandidate aggressor operation. In some embodiments, the entire seekportion of the candidate aggressor operation is considered a disturbancetime of the candidate aggressor operation. In other embodiments,segments of the candidate aggressor operation in which a drive currentof the aggressor actuator increases or decreases at a rate that exceedsa threshold value are considered disturbance times of the candidateaggressor operation, such as when the absolute value of maximum slope ofa VCM drive current profile exceeds a predetermined threshold slopevalue. In other embodiments, segments of the candidate aggressoroperation in which an absolute value of the drive current of theaggressor actuator exceeds a threshold value are considered disturbancetimes of the candidate aggressor operation, such as when the absolutevalue of VCM drive current exceeds a predetermined maximum value. Inother embodiments, transient vibrations caused by one segment of theseek operation of the actuator can affect the other actuator for acertain time interval after that segment. For example, an initialportion of a track following segment that follows the candidateaggressor operation can also be considered a disturbance time of thecandidate aggressor operation.

In step 1103, microprocessor-based controller 133 determines whether adisturbance time of the candidate aggressor operation coincides with atleast a portion of a critical time of the victim operation. If no,method 1100 proceeds to step 1108; if yes, method proceeds to step 1104.

In some embodiments, the critical time of the victim operation is alsodetermined in step 1103. Alternatively, in some embodiments the criticaltime of the victim operation is determined prior to method 1100 and canbe stored, for example, in an appropriate command queue. Alternatively,in some embodiments command scheduling algorithm 303 requests thecritical time of the victim operation from the portion of control logicincluded in CPU 301 that controls the victim actuator.

In step 1104, microprocessor-based controller 133 determines a modifiedaggressor operation that does not have a disturbance time that coincideswith the critical time of the victim operation. In some embodiments, themodified aggressor operation is generated by modifying one or moresegments of the candidate aggressor operation so that a disturbance timeof the modified aggressor operation is delayed and does not coincidewith the critical time of the victim operation. In some embodiments, themodified aggressor operation is generated by modifying one or moresegments of the candidate aggressor operation so that a rate of changein acceleration during the one or more segments is below a thresholdvalue and is not considered a disturbance time of the modified aggressoroperation. In some embodiments, the modified aggressor operation isgenerated by modifying one or more segments of the aggressor operationso that an absolute value of acceleration/deceleration during the one ormore segments is below a threshold value and is not considered adisturbance time of the modified aggressor operation. In someembodiments, the modified aggressor operation is generated by delayingthe start of the aggressor operation.

In step 1105, microprocessor-based controller 133 determines whether themodified aggressor operation generated in step 1104 can be executedwithout an additional rotation of the target recording surface. Forexample, in some embodiments, microprocessor-based controller 133determines whether an execution start time of the modified aggressoroperation occurs before the aggressor head passes over an initial sectorof the target sectors of the aggressor operation. In such embodiments,the execution start time of the modified aggressor operation correspondsto the time at which data can begin to be read from or written to thetarget track when the aggressor head is positioned over the target trackvia the modified aggressor operation. Thus, when the aggressor head iscircumferentially collocated with the initial sector of the targetsectors before the modified aggressor operation positions the aggressorhead over the target track, the modified aggressor operation generatedin step 1104 cannot be executed without an additional rotation of thetarget recording surface. If yes, method 1100 proceeds to step 1106; ifno, method 1100 proceeds to step 1111.

In step 1106, microprocessor-based controller 133 selects the modifiedaggressor operation to be the next disk access operation performed bythe aggressor actuator.

In step 1107, microprocessor-based controller 133 determines remainingdisturbance times of the victim operation. Disturbance times for thevictim operation can be determined based on similar factors employed todetermine disturbance times for the aggressor operation. For example, insome embodiments, any remaining portion of the seek portion of thevictim operation can be considered a disturbance time of the victimoperation. In other embodiments, remaining segments of the victimoperation in which a drive current of the victim actuator increases ordecreases at a rate that exceeds a threshold value are considereddisturbance times of the victim operation. In other embodiments,remaining segments of the victim operation in which an absolute value ofthe drive current of the victim actuator exceeds a threshold value areconsidered disturbance times of the victim operation.

In step 1108, microprocessor-based controller 133 determines whether adisturbance time of the victim operation coincides with at least aportion of a critical time of the selected next disk access operation tobe performed by the aggressor actuator. If no, method 1100 proceeds tostep 1130; if yes, method 1100 proceeds to step 1111. In step 1108, thenext disk access operation selected to be performed by the aggressoractuator is either the (unmodified) aggressor operation selected in step1101 or the modified aggressor operation selected in step 1106.

In some embodiments, the critical time of the modified aggressoroperation is also determined in step 1108. Alternatively, in someembodiments command scheduling algorithm 303 requests the critical timeof the modified aggressor operation from the portion of control logicincluded in CPU 301 that controls the aggressor actuator.

Step 1111 is performed in response to (1) microprocessor-basedcontroller 133 determining in step 1105 that the next disk accessoperation cannot be executed without additional rotation of the targetrecording surface or (2) microprocessor-based controller 133 determiningin step 1108 that a disturbance time of the victim operation coincideswith a critical time of the next disk access operation. In step 1111,microprocessor-based controller 133 modifies the modified aggressoroperation (from step 1104) or the next disk access command (from step1108) with a one-revolution delay. Thus, the modified aggressoroperation (from step 1104) or the next disk access operation (from step1108) is modified to have a delayed execution time that is equal to theexecution of the original (unmodified) aggressor operation selected instep 1101 with a one-revolution delay added thereto. In the case of themodified aggressor operation from step 1104, the delayed execution timeof the modified aggressor operation corresponds to a time at which theaggressor head can first begin reading data from or writing data to thetarget sectors of the aggressor operation when the aggressor head ispositioned over the target track via the modified aggressor operation.In the case of the next disk access operation from step 1108, thedelayed execution time of the next disk access operation prevents thenext disk access operation from being disturbed by the victim operation.

Step 1120 is performed in response to microprocessor-based controller133 determining in step 1108 that a disturbance time of the victimoperation coincides with a critical time of the selected next aggressordisk operation or in response to microprocessor-based controller 133determining in step 1105 that the modified aggressor operation cannot beexecuted without an additional revolution of the disk. In either case, adifferent next aggressor disk operation may need to be selected from thecommand queue for the aggressor actuator. As a result, in step 1120,microprocessor-based controller 133 updates the command queue for theaggressor actuator with an aggressor operation that includes an diskaccess timing metric 1230 based on the additional one-revolution delay.

In one instance, the command queue for the aggressor actuator is updatedwith the modified aggressor operation determined in step 1104, where themodified aggressor operation has an updated value for the disk accesstiming metric 1230 for that modified aggressor operation that includesthe one-revolution execution delay. In addition, the original aggressoroperation is removed for further use in method 1100 from the commandqueue for the aggressor actuator in method 1100. In another instance,the command queue for the aggressor actuator is updated with the nextdisk access operation of step 1108, where the modified aggressoroperation has an updated value for the disk access timing metric 1230for that aggressor operation that includes the one-revolution executiondelay. In addition, the original aggressor operation is removed forfurther use in method 1100 from the command queue the aggressor actuatorfor further use in method 1100. Generally, the aggressor operations thatare added to the aggressor command queue in step 1120 are relativelyslow to execute, but in some instances such aggressor commands can stillbe the fastest to execute compared to the other available aggressorcommands in the command queue for the aggressor actuator.

In step 1130, microprocessor-based controller 133 performs the aggressoroperation with the aggressor actuator. Because the disturbance times ofthe aggressor operation are either modified or do not coincide with acritical time of the victim operation, execution of the aggressoroperation does not significantly impact the victim operation during thecritical time. In addition, in some embodiments, in step 1130, for eachaggressor command and modified aggressor command included in the commandqueue for the aggressor actuator, the disk access timing metric 1230 forthat aggressor operation is reset to an original value. Alternatively,each value for the disk access timing metric 1230 for each aggressoroperation in the command queue for the aggressor actuator isrecalculated based on the current aggressor and victim actuatorcommands.

In some embodiments, when a disturbance time of a victim operation isdetermined to coincide with a critical time of a modified aggressoroperation, the victim operation can be modified. For example, in step1108 of method 1100, microprocessor-based controller 133 may make such adetermination. In response, microprocessor-based controller 133 canmodify one or more disturbance times of the victim operation, so thatnone of the disturbance times of the victim operation coincide with acritical time of the modified aggressor operation. One such embodimentis illustrated in FIG. 13 .

FIG. 13 sets forth a flowchart of method steps for selecting andexecuting disk access operations in a multiple-actuator disk drive,according to an embodiment. More specifically, the method steps are forselecting and executing disk access operations for a first actuator inthe multiple-actuator disk drive while a second actuator in the drive isin the process of performing a victim disk access operation. Althoughthe method steps are described in conjunction with HDD 100 in FIGS. 1 -12 , persons skilled in the art will understand that the method stepsmay be performed with other types of systems. The control algorithms forthe method steps reside in CPU 301 as command scheduling algorithm 303.Command scheduling algorithm 303 can be implemented in whole or in partas software- or firmware-implemented logic, and/or ashardware-implemented logic circuits.

Method 1300 begins at step 1301, which replaces step 1108 in method1100. Thus, in step 1301, microprocessor-based controller 133 determineswhether a disturbance time of the currently on-going victim operationcoincides with at least a portion of a critical time of the selectednext disk access operation to be performed by the aggressor actuator. Ifno, method 1300 proceeds to step 1330 and terminates; if yes, method1300 proceeds to step 1302.

In some embodiments, the critical time of the modified aggressoroperation is also determined in step 1301. Alternatively, in someembodiments command scheduling algorithm 303 requests the critical timeof the aggressor operation from the portion of control logic included inCPU 301 that controls the aggressor actuator.

In step 1302, microprocessor-based controller 133 determines a modifiedvictim operation that does not have a disturbance time that coincideswith a critical time of the current candidate aggressor operation. Insome embodiments, the modified victim operation is generated bymodifying one or more segments of the victim operation in any of theways described above in step 1104 for modifying the aggressor operation.

In step 1303, microprocessor-based controller 133 determines whether themodified victim operation generated in step 1104 can be executed withoutadditional rotation of the target recording surface. For example, insome embodiments, microprocessor-based controller 133 determines whetheran execution start time of the modified victim operation occurs beforethe victim head passes over an initial sector of the target sectors ofthe currently on-going victim operation. In such embodiments, theexecution start time of the modified victim operation corresponds to thetime at which data can begin to be read from or written to the targettrack when the victim head is positioned over the target track via themodified victim operation. Thus, when the victim head iscircumferentially collocated with the initial sector of the targetsectors of the victim operation before the modified victim operationpositions the victim head over the target track, the modified victimoperation determined in step 1302 cannot be executed without additionalrotation of the target recording surface. If yes, method 1300 proceedsto step 1304; if no, method 1300 proceeds to step 1310.

In step 1304, microprocessor-based controller 133 continues execution ofthe modified victim operation. Because any remaining disturbance timesof the currently on-going victim operation are either modified or do notcoincide with a critical time of the modified aggressor operation,execution of the victim operation does not significantly impact themodified aggressor operation during a critical time.

Step 1310 is performed in response to the determination that themodified victim operation cannot be executed without an additionalrotation of the target recording surface. In step 1310, a modifiedaggressor operation is determined by adding a delayed execution time tothe candidate aggressor operation. Microprocessor-based controller 133then updates the command queue for the aggressor actuator with themodified aggressor operation and an updated value for the disk accesstiming metric 1230 for the modified aggressor operation. Method 1300then returns back to step 1101 of method 1100 (see FIG. 11 ), and adifferent one of disk access commands 1210 may be selected as a newcandidate aggressor operation. Thus, if the victim operation cannot bemodified to avoid disturbance of the current candidate modifiedaggressor operation, the candidate modified aggressor operation isreplaced in the command queue for the aggressor actuator with a modifiedversion of the candidate modified aggressor operation that now includesa one-revolution delay. The selection process for another candidateaggressor operation is then repeated to determine the next candidateaggressor operation.

In step 1330, which is substantially similar to step 1130 in method1130, microprocessor-based controller 133 performs the modifiedaggressor operation with the aggressor actuator.

Seek Scheduling Based on Execution Start Times

In some embodiments, disk access commands for the two or more actuatorsof a multi-actuator HDD are selected simultaneously. The two or moredisk access commands are then executed together, so that the multipleactuators seek to a respective target track at substantially the sametime. Thus, the high accelerations and changes in acceleration thatoccur during the seeking of one actuator do not occur while one or moreother actuators are track following and are most easily disturbed.

In some embodiments, a first disk access command is selected from aqueue of commands for the first actuator and a second disk accesscommand is selected from a queue of commands for the second actuator,where the selection of the first and second disk access commands isbased on an approximate matching of a value of a first disk accesstiming metric for each command. For example, in one such embodiment,each of the disk access commands included in the command queue for thefirst actuator are matched with a corresponding disk access command inthe command queue for the second actuator based on values of the firstdisk access timing metric, thereby generating a plurality of matchedpairs of disk access commands. One particular matched pair of diskaccess commands is then selected based on a second disk access timingmetric. The disk access commands included in the selected pair are thenext disk access commands to be executed by the first and secondactuators.

The first disk access timing metric is a measure of a time interval thattranspires before a particular disk access command can begin to beexecuted or of a radial distance (e.g., measured in data tracks) of aseek that takes place as part of executing the particular disk accesscommand. In some embodiments, the first disk access timing metric for anactuator is based on a predicted seek start position (over a recordingsurface) of a head of the actuator upon completion of the current diskaccess operation being executed by the actuator. For example, the seekstart position of the head may correspond to a circumferential positionof the head when passing over the last sector of a disk access commandcurrently being executed by the actuator. Thus, in embodiments in whichthe first disk access timing metric is a measure of a time interval thattranspires before a disk access command in the command queue for theactuator can begin to be executed, the time interval begins when thehead reaches the circumferential position. In embodiments in which thefirst disk access timing metric is a measure of a radial distance of theseek that takes place as part of executing the particular disk accesscommand, the seek distance is measured from the current data track overwhich a head of the actuator is positioned to a target data track of theparticular disk access command.

The first disk access timing metric can include or be based on any ofthe factors on which disk access timing metric 1230 of FIG. 12 is based.For example, the first disk access can be based on an estimated seektime, a seek distance, whether a head switch is required for theactuator executing the particular disk access command, a predicted seekstart position, an estimated circumferential position of the initialtarget sector of the disk access command, a pre-access time interval forthe disk access operation, and/or an estimated time to begin diskaccess. Similarly, the second disk access timing metric is a measure ofa time interval before a particular disk access command can be executedor of a radial extent of the seek that takes place as part of executingthe particular disk access command. Thus, the second disk access timingmetric can include or be based on any of the factors on which the firstdisk access timing metric is based, as described above.

In some embodiments, the first disk access timing metric and the seconddisk access timing metric can be the same measurement. For example, fora particular disk access command, the first disk access timing metricand the second disk access timing metric can each be a seek distancefrom a current radial position of a head of an actuator to a radialposition of a target track of the particular disk access command.Alternatively, in some embodiments, for a particular disk accesscommand, the first disk access timing metric is one measurementassociated with disk access timing of the particular disk access command(e.g., seek distance) and the second disk access timing metric is adifferent measurement associated with disk access timing of theparticular disk access command (e.g., an estimated time to begin diskaccess). For example, in one such embodiment, first disk access timingmetric 1550 is based on a seek length, and is measured in data tracks,and second disk access timing metric 1560 is based on an estimated timeto begin disk access. Implementation of one such embodiment isillustrated in FIG. 14 .

FIG. 14 schematically illustrates seek paths relative to a recordingsurface 1412 that are followed by a first head and a second head (notshown) during seek operations that are selected based on a one or moredisk access timing metrics, according to an embodiment. The first headis a read/write head that is positioned by a first actuator of an HDDover a recording surface 1412 of a storage disk 1410, and the secondhead is a read/write head that is positioned by a second actuator of theHDD over a different recording surface (not shown). For reference, thepositions of the second head and tracks and sectors associated with thesecond head are shown relative to recording surface 1412.

At a time 1451, the first head is positioned at a location 1421, whichis over target sectors 1401 of an origin track 1402. Consequently, attime 1451, the first head is performing a disk access operation of acurrent disk access command, such as reading data from or writing datato target sectors 1401. By contrast, at time 1451, the second head ispositioned at a location 1431, which is over an origin track 1412, butis not over target sectors 1411 of origin track 1412. That is, at time1451, the second head is track following over origin track 1412 aftercompleting a disk operation associated with target sectors 1411, such asreading data from or writing data to target sectors 1411.

At a time 1452, the first head is positioned at a location 1422, whichis over origin track 1402 but no longer over target sectors 1401 oforigin track 1402. Consequently, at time 1452, the first head hascompleted performing the disk access operation of the current diskaccess command, and can begin execution of the next selected disk accesscommand. In addition, at time 1452, the second head is positioned at alocation 1432, which is still over origin track 1412. Thus, at time1452, the second head has continued to track follow over origin track1412 after completing the disk operation associated with target sectors1411.

Because the first head has completed the current disk access command, attime 1452 the first head and the second head can begin execution of thenext disk access command selected for each. Therefore, starting at time1452, the first head is moved by a first actuator along a first seekpath 1403 to a target track 1404 that includes target sectors 1405, andthe second head is moved by a second actuator along a second seek path1413 to a target track 1414 that includes target sectors 1415. As aresult, the first head performs the seek portion of a first disk accesscommand at substantially the same time that the second head performs theseek portion of a second disk access command.

At time 1453, the first head is positioned at a location 1423, which isover an initial target sector 1405A of target sectors 1405. Thus, whenthe first head is positioned at location 1423, the first head can beginexecution of a disk access operation (e.g., reading or writing)associated with the current disk access command being implemented withthe first actuator. Generally, execution of the disk access operation isa critical time of the disk access command being implemented with thefirst actuator. By contrast, at time 1453 the second head is positionedat a location 1433 and has not yet reached an initial target sector1415A of target sectors 1415. Thus, at time 1453, the second headcontinues to track follow over target track 1414, which is not adisturbance time. Therefore, in most instances, the disturbance times ofthe second disk access command do not coincide with a critical time ofthe first disk access command, e.g., time 1453.

At time 1454, the first head is positioned at a location 1424 overtarget sectors 1405 and continues to execute the disk access operationassociated with the first disk access command. The second head ispositioned at a location 1434 over initial target sector 1415A of targetsectors 1415 and begins execution of the disk access operationassociated with the second disk access command. The first disk accesscommand is not performing a seek operation at time 1454, and thereforethe disturbance times of the first disk access command do not coincidewith a critical time (i.e., time 1454) of the second disk accesscommand.

Also shown in FIG. 14 are examples of factors on which a disk accesstiming metric is based, including a predicted seek length, an estimatedcircumferential position of the initial target sector of the disk accesscommand, a pre-access time interval for the disk access operation, aproposed access time, and/or an estimated time to begin disk access.Because the first head is no longer over target sectors 1401 whenpositioned at location 1422, location 1422 is an example of a predictedseek start position for the next disk access command to be executed bythe first actuator, while location 1432 is an example of a predictedseek start position for the next disk access command to be executed bythe second actuator. In addition, location 1423 is an example of anestimated circumferential position of the initial target sector of thefirst disk access command, which is selected to be the next disk accesscommand executed by the first actuator, and location 1434 is an exampleof an estimated circumferential position of the initial target sector ofthe second disk access command, which is selected to be the next diskaccess command executed by the second actuator. Further, a time interval1439 is an example of a pre-access time interval for the second diskaccess operation. As shown, the pre-access time interval begins when thesecond head is positioned over target track 1414 of the second diskaccess command and ends when the second head is positioned over initialtarget sector 1415A of the second disk access command and can thereforebegin execution of the second disk access operation. Additionally, afirst and second head proposed access time 1438 is an example of a timeinterval that begins when both the first head and the second head canbegin seeking (i.e., time 1452 in FIG. 14 ) and ends when the first headhas reached the initial target sector of the first disk access commandand the second head has reached the initial target sector of the seconddisk access command (i.e., time 1454 in FIG. 14 ). Thus, first andsecond head proposed access time 1438 is the time interval between whenthe last of either the first head and the second head finishes theprevious disk operation until the last of either the first head and thesecond head has started a proposed new disk operation. For the firstactuator, an estimated time to begin disk access is illustrated by time1453, at which the first head is disposed over initial target sector1405A of the first disk access command. For the second actuator, anestimated time to begin disk access is illustrated by time 1454, atwhich the second head is disposed over initial target sector 1415A ofthe second disk access command.

According to various embodiments, the first disk access command isselected from a first command queue for the first actuator based on avalue of a first disk access timing metric for each disk access commandin the first command queue. Similarly, the second disk access command isselected from a second command queue for the second actuator based on avalue of the first disk access timing metric for each disk accesscommand in the second command queue. More specifically, the first diskaccess command and the second disk access command are matched based ontheir respective values of the first disk access timing metric. Inaddition, based on a second disk access timing metric, the matched pairof the first disk access command and the second disk access command isselected from other matched pairs of disk access commands from the firstcommand queue and the second command queue. Thus, a next disk accesscommand to be executed by the first actuator and a next disk accesscommand to be executed by the second actuator are selectedsimultaneously from the first command queue and the second command queueas a pair of matched commands. An embodiment in which the first diskaccess command and the second disk access command are simultaneouslyselected is described below in conjunction with FIGS. 15A-15E.

FIGS. 15A-15E illustrate a first command queue 1520 and a second commandqueue 1530 at various points in a command selection process, accordingto an embodiment. First command queue 1520 includes a plurality of diskaccess commands 1521-1524 to be executed by a first actuator of amulti-actuator HDD, and second command queue 1530 includes a pluralityof disk access commands 1531-1534 to be executed by a second actuator ofthe multi-actuator HDD. Disk access commands 1521-1524 and disk accesscommands 1531-1534 can be all read commands, write commands, or acombination of both. In addition, first command queue 1520 and secondcommand queue 1530 each include a value for a first disk access timingmetric 1550 and, in some embodiments, a second disk access timing metric1560. Disk access commands 1521-1524 each reference one or more sectorsof a target track or tracks disposed on one or more recording surfacesthat each correspond to a respective head of the first actuator, anddisk access commands 1531-1534 each reference one or more sectors of atarget track or tracks disposed on one or more recording surfaces thateach correspond to a respective head of the second actuator. In FIG.15A, disk access commands 1521 are listed in first command queue 1520 inorder of receipt from host 10, and disk access commands 1531-1534 arelisted in second command queue 1530 in order of receipt from host 10.

First disk access timing metric 1550 can include or be based on any ofthe factors on which disk access timing metric 1230 of FIG. 12 is based,such as an estimated seek time, a seek distance, whether a head switchis required for the actuator executing the particular disk accesscommand, an estimated circumferential position of the head uponcompletion of a current disk access operation, an estimatedcircumferential position of the initial target sector of the disk accesscommand, a first and second head proposed access time and a pre-accesstime interval for the disk access operation. Thus, in variousembodiments, disk access timing metric 1550 can be measured in units oftime, distance, or number of tracks. Second disk access timing metric1560 can be a similar timing metric to first disk access timing metric1550 or a different disk access timing metric, for example, a diskaccess timing metric based on different factors than first disk accesstiming metric 1550.

In some embodiments, the values of first disk access timing metric 1550for each of disk access commands 1521-1524 is measured starting from apredicted seek start position. The predicted seek start positioncorresponds to the earliest execution time at which the last actuator tobecome available to perform a next disk access command is actuallyavailable to perform the next disk access command. In other words, thepredicted seek start position corresponds to the earliest execution timeat which the first actuator is available to perform a disk accesscommand from the first queue and the second actuator is also availableto perform a disk access command from the second queue. For example, inthe instance illustrated in FIG. 14 , the last actuator to becomeavailable to perform the next disk access command is the first actuator.Thus, the earliest execution time on which first disk access timingmetric 1550 is based is time 1452, when the first head is no longerdisposed over target sectors 1401 and the first actuator is available toperform another disk access command from first command queue 1520.Similarly, in such embodiments, the values of second disk access timingmetric 1560 for each of disk access commands 1531-1534 is measured fromtime 1452, which is the same earliest execution time as that on whichfirst disk access timing metric 1550 is based. Thus, according to theembodiments, the second actuator has the same earliest execution time asthe first actuator, and is available to perform a disk access commandfrom second command queue 1530 at the same time that first actuator isavailable to perform a disk access command from first command queue1520.

In the command selection process, a next disk access command to beexecuted by the first actuator and a next disk access command to beexecuted by the second actuator are selected, typically while a currentdisk access command is being executed by the first actuator and acurrent disk access command is being executed by the second actuator. Inthe command selection process, the next disk access command for thefirst actuator and the next disk access command for the second actuatorare selected based on a value of first disk access timing metric 1550for each of disk access commands 1521-1524 and disk access commands1531-1534. In this way, each of some or all of disk access commands1521-1524 is uniquely matched to a corresponding one of disk accesscommands 1531-1534.

In the command selection process, the first disk access command fromfirst command queue 1520 (e.g., disk access command 1521) is selectedand matched with a remaining disk access command from second commandqueue 1530, where the remaining disk access command from second commandqueue 1530 has a value of first disk access timing metric 1550 that iscloser than any other disk access command in second command queue 1530to the value of first disk access timing metric 1550 for the selecteddisk access command. Thus, in FIG. 15B, disk access command 1521 has avalue of 3,020 tracks, and is matched with disk access command 1534,since disk access command 1534 has a value (4,000 tracks) of first diskaccess timing metric 1550 that is closer than any other disk accesscommand in second command queue 1530 to 3,020 tracks.

Then, as shown in FIG. 15C, the second disk access command from firstcommand queue 1520 (e.g., disk access command 1522) is selected andmatched with a remaining disk access command from second command queue1530, where the remaining disk access command from second command queue1530 has a value of first disk access timing metric 1550 that is closerthan any other disk access command in second command queue 1530 to thevalue of first disk access timing metric 1550 for the selected diskaccess command (e.g., 55 tracks for disk access command 1522). Thus, inFIG. 15C, disk access command 1522 is matched with disk access command1533, since disk access command 1533 has a value (270 tracks) of firstdisk access timing metric 1550 that is closer to 55 tracks than anyother remaining disk access command in second command queue 1530. InFIG. 15D, disk access command 1523 is matched to disk access command1531 in second command queue 1530 and disk access command 1524 ismatched to disk access command 1532 in second command queue 1530 using asimilar procedure. In this way, a plurality of pairs of matched diskaccess commands is generated.

The order in which disk access commands from first command queue 1520are selected for matching with a disk access command from second commandqueue 1530 can be according to any suitable criterion. For example, insome embodiments, disk access commands from first command queue 1520 areselected for matching in order of receipt from host 10. Thus, in suchembodiments, the oldest remaining disk access command from first commandqueue 1520 is selected for matching. In other embodiments, disk accesscommands from first command queue 1520 are selected for matching basedon a value of first disk access timing metric 1550 for each disk accesscommand or of second disk access timing metric 1560 for each disk accesscommand.

Once some or all of disk access commands 1521-1524 are matched to acorresponding disk access command from second command queue 1530 and aplurality of pairs of matched disk access commands has been generated,one pair of matched disk access commands is selected to be the diskaccess commands next executed by the first actuator and the secondactuator. In some embodiments, the selection of the pair of matched diskaccess commands to be the disk access commands next executed is based onvalues of second disk access timing metric 1560 for each disk accesscommand.

In some embodiments, second disk access timing metric 1560 correspondsto or is based on a time interval, such as an estimated seek time or anestimated time to begin disk access. In such embodiments, the selectionof the pair of matched disk access commands to be the disk accesscommands next executed is based on a greatest value (i.e., the longesttime interval) of second disk access timing metric 1560 for each pair ofmatched disk access commands. One such embodiment is illustrated in FIG.15E.

FIG. 15E depicts first command queue 1520 and second command queue 1530with disk access commands 1521-1524 and 1531-1534 arranged in thematched pairs, according to an embodiment. As shown, disk access command1521 is matched with disk access command 1534 as a first matched pair1561 of disk access commands, disk access command 1522 is matched withdisk access command 1533 as a second matched pair 1562 of disk accesscommands, disk access command 1523 is matched with disk access command1531 as a third matched pair 1563 of disk access commands, and diskaccess command 1524 is matched with disk access command 1532 as a fourthmatched pair 1564 of disk access commands.

Each of matched pairs 1561-1564 has a greatest value 1570 of second diskaccess timing metric 1560. Thus, in the embodiment illustrated in FIG.15E, greatest value 1570 of second disk access timing metric 1560 formatched pair 1561 is 6 ms, because the value of second disk accesstiming metric 1560 for disk access command 1534 is 6 ms, which isgreater than 5 ms (the value of second disk access timing metric 1560for disk access command 1521). Similarly, greatest value 1570 formatched pair 1562 is 8 ms, because the value of second disk accesstiming metric 1560 for disk access command 1534 (8 ms) is greater thanthe value of second disk access timing metric 1560 for disk accesscommand 1522 (2 ms). Further, greatest value 1570 for matched pair 1563is 25 ms and greatest value 1570 for matched pair 1564 is 15 ms.

As noted above, in some embodiments of the command selection process,one pair from matched pairs 1561-1564 is selected based on the greatestvalue 1570 for each pair of matched disk access commands. Thus, inembodiments in which second disk access timing metric 1560 correspondsto or is based on a time interval, the selection of a pair from matchedpairs 1561-1564 is based on a longest time interval associated with eachof matched pairs 1561-1564, such as a longest estimated seek time ofeach matched pair or a longest estimated time to begin disk access ofeach matched pair. In the selection process, the pair from matched pairs1561-1564 is selected based on a smallest value of greatest value 1570.That is, the matched pair having the smallest value for greatest value1570 is selected. In the embodiment illustrated in FIG. 15E, matchedpair 1561 is selected, since greatest value 1570 for matched pair 1561is less than greatest value 1570 for any other available matched pairassociated with first command queue 1520 and second command queue 1530.

In some embodiments, selection of a pair from matched pairs 1561-1564based on the smallest value for greatest value 1570 corresponds toselecting the matched pair of disk access commands in which both thefirst actuator and the second actuator have each positioned a head overa target track at an earlier time than any other matched pair of diskaccess commands. Consequently, the selection of such a matched pair ofdisk access commands facilitates low-latency execution of the diskaccess commands included in first command queue 1520 and second commandqueue 1530.

Upon selection of one matched pair of disk access commands from matchedpairs 1561-1564, the commands included in the matched pair are thenimplemented as the next disk access commands to be executed by the firstactuator and the second actuator. For example, in the embodimentillustrated in FIG. 15E, the first actuator executes disk access command1521 and the second actuator executes disk access command 1534 via aprocedure similar to that illustrated in FIG. 14 . That is, the firstactuator begins executing disk access command 1521 when an appropriatehead of the first actuator is at a predicted seek start position (e.g.,location 1422), and, substantially simultaneously, the second actuatorexecutes disk access command 1534, since an appropriate head of thesecond actuator is also at a predicted seek start position (e.g.,location 1432).

In the embodiment illustrated in FIGS. 15A-15E, matched pairs 1561-1564are generated based on values of first disk access timing metric 1550and the selection of a particular one of matched pairs 1561-1564 isbased on a greatest value 1570 of second disk access timing metric 1560.In alternative embodiments, only a single disk access timing metric isemployed. That is, in such embodiments, the same disk access timingmetric is employed for generating matched pairs 1561-1564 and forselecting a particular one of matched pairs 1561-1564 based on agreatest value 1570.

FIG. 16 sets forth a flowchart of method steps for selecting andexecuting disk access operations in a disk drive that includes a firstactuator having a first head and a second actuator having a second head,according to an embodiment. Although the method steps are described inconjunction with HDD 100 in FIGS. 1 - 15 , persons skilled in the artwill understand that the method steps may be performed with other typesof systems. In some embodiments, concurrent with the method steps, VCM128A executes one current disk access operation and VCM 128B executesanother current disk access operation.

As shown, a method 1600 begins at step 1601, when microprocessor-basedcontroller 133 determines a starting time for executing the next diskaccess command with VCM 128A and with VCM 128B. For example, in anembodiment, the starting time is a time corresponding to a headassociated with VCM 128A and/or a head associated with VCM 128B beinglocated at a predicted seek start position (e.g., locations 1422 and1432 in FIG. 14 ).

In step 1602, microprocessor-based controller 133 matches pairs of diskaccess operations, where each pair of disk access command includes afirst disk access command from first command queue 1520 and a seconddisk access command from second command queue 1530. Thus,microprocessor-based controller 133 generates a group of pairs ofmatched disk access operations. In a given pair of matched disk accesscommand, the second disk access command is matched with the first diskaccess command based on a value of first disk access timing metric 1550for the first disk access command and a value of first disk accesstiming metric 1550 for the second disk access command. As describedabove in conjunction with FIGS. 15B-15D, such matching generallyincludes matching disk access commands having approximately equal valuesfor first disk access timing metric 1550.

In step 1603, microprocessor-based controller 133 selects one pair ofmatched disk access commands from the group of paired disk accesscommands generated in step 1602. In some embodiments, the pair ofmatched disk access commands is selected from the group based on valuesof second disk access timing metric 1560 for each disk access command inthe group of paired disk access commands, as described above inconjunction with FIG. 15E

In step 1605, microprocessor-based controller 133 causes the selectedpair of matched disk access commands to be executed at the determinedstarting time. Thus, in step 1605, VCM 128A executes the first diskaccess command in the selected pair of matched disk access commands, andVCM 128B executes the second disk access command in the selected pair ofmatched disk access commands. Method 1600 then returns to step 1601 forthe selection of the next disk access commands to be executed with VCM128A and with VCM 128B.

In some embodiments, after a pair of matched disk access commands isselected, a further check is performed prior to executing the pair ofmatched disk access commands. Specifically, in such embodiments a checkis performed to determine whether one command of the pair of matcheddisk access commands has a disturbance time that coincides with acritical time of the other command of the matched disk access commands.One such embodiment is described below in conjunction with FIG. 17 .

FIG. 17 sets forth a flowchart of method steps for selecting andexecuting disk access operations in a disk drive that includes a firstactuator having a first head and a second actuator having a second head,according to an embodiment. Although the method steps are described inconjunction with HDD 100 in FIGS. 1 - 15 , persons skilled in the artwill understand that the method steps may be performed with other typesof systems. In some embodiments, concurrent with the method steps, VCM128A executes one current disk access operation and VCM 128B executesanother current disk access operation. Steps of method 1700 that.

As shown, a method 1700 begins at step 1601. Steps 1601-1605 of method1700 are substantially similar to the corresponding steps in method1600, and description thereof is omitted for brevity.

In step 1704, microprocessor-based controller 133 determines whether adisturbance time of each disk access command in the selected pair ofmatched disk access commands (selected in step 1603) coincides with atleast a portion of a critical time of the other disk access command inthe selected pair of matched disk access commands. If no, method 1700proceeds to step 1605; if yes, method 1700 proceeds to step 1710.

In step 1605, microprocessor-based controller 133 causes the selectedpair of matched disk access commands to be executed at the determinedstarting time. Method 1700 then returns to step 1601 for the selectionof the next disk access commands to be executed with VCM 128A and withVCM 128B.

Step 1710 is performed when a disturbance time of a disk access commandin the selected pair of matched disk access commands is determined tocoincide with at least a portion of a critical time of the other diskaccess command. In step 1710, microprocessor-based controller 133generates a modified seek operation for the disk access command thatincludes the disturbance time. Specifically, a seek operation ismodified so that the modified seek operation does not have a disturbancetime that coincides with the critical time of the other disk accesscommand in the selected pair of matched disk access commands. Forexample, the seek operation can be modified using techniques describedabove in conjunction with FIGS. 4-12 for seek scheduling based onaggressor operation disturbance times.

In step 1711, microprocessor-based controller 133 updates the selectedpair of matched disk access commands with the modified seek command.Thus, one disk access command in the selected pair includes the modifiedseek command, so that no disturbance time of that disk access commandcoincides with a critical time of the other disk access command in theselected pair.

In step 1712, microprocessor-based controller 133 determines whether theupdated selected pair of matched disk access commands can be executed asquickly as the original selected pair of matched disk access commandsselected in step 1603. That is, microprocessor-based controller 133determines whether the modified seek command has slowed the execution ofthe selected pair of matched disk access commands. If the updatedselected pair of matched disk access commands can be executed as quicklyas the original selected pair of matched disk access commands, method1600 proceeds to step 1605; if the updated selected pair of matched diskaccess commands cannot be executed as quickly as the original selectedpair of matched disk access commands, method 1600 proceeds to step 1713.

In step 1713, microprocessor-based controller 133 updates the group ofpairs of matched disk access commands generated in step 1602.Specifically, the group of pairs of matched disk access command isupdated to include the updated selected pair of matched disk accesscommands generated in step 1711, while the corresponding selected pairof matched disk access commands (selected in step 1603) is removed fromthe group.

It is noted that the selected pair of matched disk access commands thatis removed from the group in step 1713 is the selected pair of matcheddisk access commands that was determined in the most recent iteration ofstep 1704 to include a first disk access command with a disturbance timethat coincides with a critical time of a second disk access command inthe pair. Consequently, the removed pair of matched disk access commandsis no longer considered as an option in future iterations of step 1603.It is further noted that, in some instances, multiple iterations of thesteps 1603, 1704, and 1710-1713 can occur when multiple pairs of matcheddisk access commands each include a first disk access command with adisturbance time that coincides with a critical time of a second diskaccess command in the pair. In such instances, the group of pairs ofmatched disk access commands generated in step 1602 will becomepopulated with updated selected pairs of matched disk access commands,which do not include a first disk access command with a disturbance timethat coincides with a critical time of a second disk access command inthe pair. Upon termination of method 1700, the updated selected pairs ofmatched disk access commands are no longer retained in the group. As aresult, in a subsequent execution of method 1700, a new group of pairsof matched disk access command is generated in step 1603 based on thenewly determined values for first disk access timing metric 1550 andsecond disk access timing metric 1560 for the disk access commands.

While the foregoing is directed to embodiments of the present invention,other and further embodiments of the invention may be devised withoutdeparting from the basic scope thereof, and the scope thereof isdetermined by the claims that follow.

What is claimed is:
 1. A disk drive comprising: a first actuator thatcontrols an arm having a first head and extending over a first surfaceof a plurality of disk surfaces; a second actuator that controls an armhaving a second head and extending over a second surface of a pluralityof disk surfaces other than the first surface; and a controllerconfigured to: control the first actuator to start a first disk accessoperation; and while the first actuator is moving in connection with thefirst disk access operation, select a second disk access operation froma queue of operations to be performed by the second actuator, determinethat a disturbance time of the second disk access operation coincideswith at least a portion of a critical time of the first disk accessoperation, in response to determining that the disturbance timecoincides with at least a portion of the critical time, generate amodified second disk access operation that does not include adisturbance time that coincides with at least a portion of the criticaltime of the first disk access operation, select as an operation forexecution either the modified second disk access operation or a thirddisk access operation from the queue of operations to be performed bythe second actuator, and execute the operation for execution.
 2. Thedisk drive according to claim 1, wherein the second actuator is drivenby a current according to an input current profile that includes: anacceleration increase segment in which a positive current is suppliedand increased over time, an acceleration decrease segment in which thepositive current is decreased over time, a deceleration increase segmentin which a negative current is supplied and increased over time, and adeceleration decrease segment in which the negative current is decreasedover time.
 3. The disk drive according to claim 2, wherein generatingthe modified second disk access operation comprises reducing a slope ofthe positive current supplied in the acceleration increase segment. 4.The disk drive according to claim 3, wherein the input current profilefurther includes a constant acceleration segment between theacceleration increase segment and the acceleration decrease segment, andgenerating the modified second disk access operation comprises reducinga duration of the constant acceleration segment.
 5. The disk driveaccording to claim 3, wherein the input current profile further includesa constant acceleration segment between the acceleration increasesegment and the acceleration decrease segment, and generating themodified second disk access operation comprises: reducing a maximumvalue of the positive current supplied in the acceleration increasesegment, increasing a duration of the constant acceleration period, andreducing a slope of the positive current supplied in the accelerationdecrease segment.
 6. The disk drive according to claim 2, whereingenerating the modified second disk access operation comprises reducinga slope of the negative current supplied in the deceleration increasesegment.
 7. The disk drive according to claim 6, wherein generating themodified second disk access operation comprises reducing a slope of thepositive current supplied in each of the acceleration increase segmentand the acceleration decrease segment and a slope of the negativecurrent supplied in the deceleration decrease segment.
 8. The disk driveaccording to claim 1, wherein executing the operation for executioncomprises executing the operation for execution prior to executing anyother disk access operation from the queue of operations to be performedby the second actuator.
 9. The disk drive according to claim 1, whereinthe second disk access operation has an execution start time that occursbefore an execution start time of the third disk access operation. 10.The disk drive according to claim 9, wherein the execution start time ofthe second disk operation corresponds to a first time at which thesecond head passes over an initial target sector of the second diskoperation upon completion of a disk operation currently being performedby the second actuator and the execution start time of the third diskoperation corresponds to a first time at which the second head passesover an initial target sector of the third disk operation uponcompletion of the disk operation currently being performed by the secondactuator.
 11. The disk drive according to claim 1, wherein the firstdisk access operation comprises at least one of seeking the first headto a target track of the first disk access operation and positioning thefirst head over the target track.
 12. The disk drive according to claim1, wherein selecting as the operation for execution either the modifiedsecond disk access operation or a third disk access operation comprises:determining that an execution start time of the second disk accessoperation occurs during a seek operation of the modified second diskaccess operation; and in response, selecting the third disk accessoperation as the command for execution.
 13. The disk drive according toclaim 1, wherein selecting as the operation for execution either themodified second disk access operation or a third disk access operationcomprises: determining that an execution start time of the second diskaccess operation occurs during a seek operation of the modified seconddisk access operation; in response, generating the third disk accessoperation by adding a disk access execution delay to the execution starttime of the second disk access operation; and selecting the third diskaccess operation as the operation for execution.
 14. The disk drive ofclaim 13, wherein adding the disk access execution delay to theexecution start time of the second disk access operation comprisesrotating the second surface until the second head is circumferentiallycolocated with an initial target sector of the second disk accessoperation while the head is positioned over a target track of the seconddisk access operation.
 15. The disk drive according to claim 1, whereinthe critical time of the first disk access operation comprises one of atime interval during which data are being read from the first surfacewith the first head and a time interval during which data are beingwritten to the first surface with the first head.
 16. A method ofselecting and executing disk access commands in a disk drive thatincludes a first actuator that controls an arm having a first head and asecond actuator that controls an arm having a second head, the methodcomprising: controlling the first actuator to start a first disk accessoperation; and while the first actuator is moving in connection with thefirst disk access operation, selecting a second disk access operationfrom a queue of operations to be performed by the second actuator,determining that a disturbance time of the second disk access operationcoincides with at least a portion of a critical time of the first diskaccess operation, in response to determining that the disturbance timecoincides with at least a portion of the critical time, generating amodified second disk access operation that does not include adisturbance time that coincides with at least a portion of the criticaltime of the first disk access operation, selecting as an operation forexecution either the modified second disk access operation or a thirddisk access operation from the queue of operations to be performed bythe second actuator, and executing the operation for execution.
 17. Themethod according to claim 16, wherein the second actuator is driven by acurrent according to an input current profile that includes: anacceleration increase segment in which a positive current is suppliedand increased over time, an acceleration decrease segment in which thepositive current is decreased over time, a deceleration increase segmentin which a negative current is supplied and increased over time, and adeceleration decrease segment in which the negative current is decreasedover time.
 18. The method according to claim 17, wherein generating themodified second disk access operation comprises reducing a slope of thepositive current supplied in the acceleration increase segment.
 19. Themethod according to claim 18, wherein the input current profile furtherincludes a constant acceleration segment between the accelerationincrease segment and the acceleration decrease segment, and generatingthe modified second disk access operation comprises reducing a durationof the constant acceleration segment.
 20. The method according to claim18, wherein the input current profile further includes a constantacceleration segment between the acceleration increase segment and theacceleration decrease segment, and generating the modified second diskaccess operation comprises: reducing a maximum value of the positivecurrent supplied in the acceleration increase segment, increasing aduration of the constant acceleration period, and reducing a slope ofthe positive current supplied in the acceleration decrease segment.